Christine M Draper

US Patent:

20220331025, Oct 20, 2022

Filed:

Sep 24, 2019

Appl. No.:

17/763180

Inventors:

- Sunnyvale CA, US
Christine E. Draper - Menlo Park CA, US
Caroline A. Edwards - Foster City CA, US
Ikeda Michael - Sunnyvale CA, US
Erasmo Lopez Calleros - Sunnyvale CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 34/30
A61B 17/29

Abstract:

A computer-assisted medical system includes a robotic manipulator arm configured to support an instrument. The instrument includes an instrument shaft and jaws disposed at a distal end of the instrument shaft. The computer-assisted medical system further includes a controller coupled to the manipulator arm. The controller includes a computer processor and is configured to track a movement of the instrument along an insertion axis of the instrument, and coordinate a size of a jaw aperture defined by the jaws with the movement of the instrument along the insertion axis to reach a target aperture.